Differential locking arrangements for rotary powered surgical instruments

• US 9,072,536 B2
• Filed: 06/28/2012
• Issued: 07/07/2015
• Est. Priority Date: 06/28/2012
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Shelton, Frederick E. IV, Morgan, Jerome R., Baxter, Chester O. III
• Primary Examiner(s): Holmes, Justin
• Application Number:
  US13/536,284
• Publication Number:
  US 20140000411A1
• Time in Patent Office: 1,104 Days
• Field of Search: 475/221, 475/296, 475/298, 475/300, 475/329
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: Y10T 74/19005 Nonplanetary gearing differential type [e.g., gearless differentials]

Abstract

Differential locking systems for a surgical instrument that includes a surgical end effector that is powered by a rotary drive shaft assembly that is movable between a plurality of discrete axial positions. In various forms, at least one retention formation is provided on the rotary drive shaft assembly that corresponds to each one of the discrete axial position. At least one lock member is operably supported relative to rotary drive shaft assembly for retaining engagement with the at least one of the retention formations when the rotary drive shaft assembly is moved to the discrete axial positions associated therewith.

Claims

1. A surgical instrument comprising:

a surgical end effector;

a rotary drive shaft that is selectively axially movable between a plurality of discrete axial positions relative to said surgical end effector to apply rotary control motions thereto; and

a differential locking system, comprising;

at least one retention formation on said rotary drive shaft corresponding to each one of said discrete axial positions; and

at least one lock member operably supported by said surgical end effector relative to said rotary drive shaft for retaining engagement with said at least one retention formation when said rotary drive shaft is moved to said discrete axial positions associated therewith.

2. The surgical instrument of claim 1 wherein said at least one retention formation is selected from a group of retention formations consisting of at least one dimple formed in said rotary drive shaft and a radial locking groove formed in a portion of said rotary drive shaft.

3. The surgical instrument of claim 1 wherein at least one of said at least one lock member is spring-biased.

4. The surgical instrument of claim 1 wherein said at least one lock member is operably supported in a differential housing that comprises a portion of a rotary transmission that operably interfaces with said rotary drive shaft and said surgical end effector such that when said rotary drive shaft is in a first axial position, application of a rotary drive motion to said rotary drive shaft causes said rotary transmission to apply a first rotary control motion to said surgical end effector and when said rotary drive shaft is in a second axial position, application of said rotary drive motion to said rotary drive shaft by a drive motor causes said rotary transmission to apply a second rotary control motion to said surgical end effector.

5. The surgical instrument of claim 4 wherein said rotary transmission further comprises:

a ring gear in said differential housing oriented for meshing engagement with a sun gear on said rotary drive shaft when said rotary drive shaft is in said first axial position; and

a plurality of planet gears rotatably supported within the said differential housing and in meshing engagement with a portion of said surgical end effector, said plurality of planet gears being further configured for meshing engagement with said sun gear when said rotary drive shaft is in said second axial position.

6. The surgical instrument of claim 5 wherein said surgical end effector is rotatably coupled to an elongate shaft assembly of said surgical instrument and wherein said surgical end effector further comprises:

an end effector drive housing rotatably coupled to said elongate shaft assembly for selective rotation relative thereto;

a first end effector ring gear in said end effector drive housing in meshing engagement with said plurality of planet gears;

an implement drive shaft rotatably supported in said surgical end effector and including an implement drive gear in meshing engagement with a second end effector ring gear in said end effector drive housing; and

a firing member in operable engagement with said implement drive shaft.

7. A surgical instrument comprising:

a surgical end effector;

a rotary drive shaft operably interfacing with said surgical end effector and being selectively axially movable between a first axial position and a second axial position; and

a differential locking system, comprising;

a differential housing operably interfacing with said rotary drive shaft and said surgical end effector; and

at least one spring-biased lock member operably supported by said differential housing for retaining engagement with a first portion of said rotary drive shaft when said rotary drive shaft is in said first axial position, said at least one spring-biased lock member being further configured to retainingly engage a second portion of said rotary drive shaft when said rotary drive shaft is in said second axial position.

8. The surgical instrument of claim 7 wherein said rotary drive shaft further comprises:

at least one first locking formation in said rotary drive shaft that is configured to be retainingly engaged by said at least one spring-biased locking member when said rotary drive shaft is in said first axial position; and

at least one second locking formation in said rotary drive shaft that is configured to be retainingly engaged by said at least one spring-biased locking member when said rotary drive shaft is in said second axial position.

9. The surgical instrument of claim 8 wherein said at least one first locking formation is selected from a group of first locking formations comprising at least one first locking dimple and a first radial groove and wherein said at least one second locking formation is selected from a group of second locking formations comprising at least one second locking dimple and a second radial groove.

10. The surgical instrument of claim 7 wherein said differential housing comprises a portion of a rotary transmission that operably interfaces with said rotary drive shaft and said surgical end effector such that when said rotary drive shaft is in said first axial position, application of a rotary drive motion to said rotary drive shaft causes said rotary transmission to apply a first rotary control motion to said surgical end effector and when said rotary drive shaft is in said second axial position, application of said rotary drive motion to said rotary drive shaft by a drive motor causes said rotary transmission to apply a second rotary control motion to said surgical end effector.

11. The surgical instrument of claim 10 wherein said rotary transmission further comprises:

a ring gear in said differential housing oriented for meshing engagement with a sun gear on said rotary drive shaft when said rotary drive shaft is in said first axial position; and

a plurality of planet gears rotatably supported within said differential housing and in meshing engagement with a portion of said surgical end effector, said planet gears further configured for meshing engagement with said sun gear when said rotary drive shaft is in said second axial position.

12. A differential locking system for a surgical instrument including a surgical end effector powered by a rotary drive shaft assembly that is movable between a plurality of discrete axial positions, said differential locking system comprising:

at least one retention formation on said rotary drive shaft assembly corresponding to each one of said discrete axial positions; and

at least one lock member operably supported relative to said rotary drive shaft assembly for retaining engagement with said at least one retention formation when said rotary drive shaft assembly is moved to said discrete axial positions associated therewith, said at least one lock member being operably supported in a differential housing that comprises a portion of a rotary transmission that operably interfaces with said rotary drive shaft assembly and said surgical end effector such that when said rotary drive shaft assembly is in a first axial position, application of a rotary drive motion to said rotary drive shaft assembly causes said rotary transmission to apply a first rotary control motion to said surgical end effector and when said rotary drive shaft assembly is in a second axial position, application of said rotary drive motion to said rotary drive shaft assembly by a drive motor causes said rotary transmission to apply a second rotary control motion to said surgical end effector, said rotary transmission further comprising;

a ring gear in said differential housing oriented for meshing engagement with a sun gear on said rotary drive shaft assembly when said rotary drive shaft assembly is in said first axial position; and

a plurality of planet gears rotatably supported within said differential housing and in meshing engagement with a portion of said surgical end effector, said planet gears being further configured for meshing engagement with said sun gear when said rotary drive shaft assembly is in said second axial position.

13. The differential locking system of claim 12 wherein said surgical end effector is rotatably coupled to an elongate shaft assembly of said surgical instrument and wherein said surgical end effector further comprises:

an end effector drive housing rotatably coupled to said elongate shaft assembly for selective rotation relative thereto;

a first end effector ring gear in said end effector drive housing in meshing engagement with said plurality of planet gears;

an implement drive shaft rotatably supported in said surgical end effector and including an implement drive gear in meshing engagement with a second end effector ring gear in said end effector housing; and

a firing member in operable engagement with said implement drive shaft.

14. A differential locking system for a surgical instrument including a surgical end effector powered by a rotary drive shaft assembly that is movable between a first axial position and a second axial position, said differential locking system comprising:

a differential housing operably interfacing with said rotary drive shaft assembly and said surgical end effector, said differential housing comprising a portion of a rotary transmission that operably interfaces with said rotary drive shaft assembly and said surgical end effector such that when said rotary drive shaft assembly is in said first axial position, application of a rotary drive motion to said drive shaft assembly causes said rotary transmission to apply a first rotary control motion to said surgical end effector and when said rotary drive shaft assembly is in said second axial position, application of said rotary drive motion to said rotary drive shaft assembly by a drive motor causes said rotary transmission to apply a second rotary control motion to said surgical end effector, said rotary transmission further comprising;

a ring gear in said differential housing oriented for meshing engagement with a sun gear on said rotary drive shaft assembly when said rotary drive shaft assembly is in said first axial position; and

a plurality of planet gears rotatably supported within said differential housing and in meshing engagement with a portion of said surgical end effector, said planet gears further configured for meshing engagement with said sun gear when said rotary drive shaft assembly is in said second axial position and wherein said differential locking system further comprises at least one spring-biased lock member operably supported by said differential housing for retaining engagement with a first portion of said rotary drive shaft assembly when said rotary drive shaft assembly is in said first axial position and said at least one spring-biased lock member further configured to retainingly engage a second portion of said rotary drive shaft assembly when said rotary drive shaft assembly is in said second axial position.